【摘要】 基于L2-L3级别智能汽车在人机共驾工况下驾驶员的认知特征，建立人机共驾智能汽车紧急工况下的驾驶员应激转向模型，该模型反映了驾驶员在应激过度状态下的转向特性.通过应激转向曲线中转向盘转角幅值与转向频率之间的拟合关系来表征驾驶员的应激程度.考虑高速大转角下的车身侧倾，并引入非线性轮胎模型，建立3自由度非线性整车动力学模型，通过侧向加速度的跟踪仿真对驾驶员应激转向模型进行验证.结果表明：驾驶员在应激过度行为下会使车辆产生过度的前轮转角；模型输出结果和实车试验结果有较好的匹配度，模型可以描述驾驶员应激转向特征.更多还原

【Abstract】 Based on the cognitive characteristics of drivers in L2-L3 level intelligent vehicles under the condition of human-vehicle co-driving, a stress steering model for drivers was established under the emergency conditions of human-vehicle co-driving intelligent vehicles. The steering characteristics of drivers in the overstressed state were reflected by the model. The degree of driver stress was characterized by the fitting relationship between steering wheel angle amplitude and steering frequency in the stress steering curve. Considering the body roll under high speed and large turning angles, a nonlinear tire model was introduced to establish three-degree-of-freedom nonlinear vehicle dynamics model. The driver stress steering model was verified by tracking the simulation of lateral acceleration. The results indicate that drivers in the state of excessive stress can cause excessive front wheel turning of vehicle. The model output results are well consistent with the actual vehicle test results, and the model can describe the driver stress steering characteristics.更多还原